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Open-loop reference models for nonlinear control with applications to unmanned helicopter flight

Lorenz, Sven (2010) Open-loop reference models for nonlinear control with applications to unmanned helicopter flight. AIAA GNC, 2. - 5. Aug. 2010, Toronto, Canada.

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Abstract

A novel way to design a nonlinear feedforward controller is introduced. Contrary to input-output linearization and pseudo control hedging techniques, the new formulation proposed is based on the states of the reference system instead on the states of the plant. By reshaping the structure commonly used in literature the similarities between the resulting scheme and what is made in model following control are utilized to get a pure nonlinear feedforward system which is completely decoupled from system outputs. This permits the application of the nonlinear control law when knowledge of the system states is not available. Due to the strict separation of plant and reference dynamics in the proposed approach a stability analysis of the reference system can be simplified. This new control scheme has been used for the control of an unmanned helicopter demonstrating its applicability. Results of these flight-test are presented in this paper.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Open-loop reference models for nonlinear control with applications to unmanned helicopter flight
Authors:
AuthorsInstitution or Email of Authors
Lorenz, SvenFT-UL
Date:August 2010
Refereed publication:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:nonlinear control, UAV, Regelungstechnik, Eingangs-Ausgangs Linearisierung, Dynamic Inversion, MRAC
Event Title:AIAA GNC
Event Location:Toronto, Canada
Event Type:international Conference
Event Dates:2. - 5. Aug. 2010
Organizer:AIAA
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Sven Lorenz
Deposited On:24 Nov 2010 14:15
Last Modified:24 Nov 2010 14:15

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